PowerPoint Presentation
PYTHON LAB PROJECT: SIMPLIFIED (2 DOF) SERIAL MANIPULATOR
DR. ERIC CHOU XXXXXXXXXXIEEE SENIOR MEMBER
Introduction to Robotics
Manipulation and Programming
Unit 2: Kinematics
2 DOF Serial Manipulato
x0
y0z0
x2
y2
z2
θ1
a1
a2
a3
x1
y1
z1
Problem:
1) Create the Denavit-Hartenberg Parameter Table. Draw it
on a paper and taking picture or use any spreadsheet or
word program.
2) Write a Python program to calculate the W0_n for the
coordinate of end-effector frame original point w.
submit .py or .zip file
Python Programming Problem:
1.
Top of Form
Find the velocity of the red point.
Given:
(1) angular velocity: 
(2) frame 1's original point with respect to frame 0: (4, 3, 0)
(3) red point's coordinate with respect to frame 1: (1, 2, 0)
(4) velocity of the red point with respect to frame 0: [1, -1, 0]
Write a python program to solve this problem.
Submit .py, .zip file
Bottom of Form